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Branch on a Variable & Use Wires What's a “Variable”? – It's a box to put something in, like text, a number, or a true/false value. Why might we use a “Variable”? – To reference it later in the program. What is a “Compare” block? – A “Compare” block tests the value of a numeric variable against a another number. When might we use a “Compare” block? – To test the value of a sensor...

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Incremental Development with Bluetooth Now we will write a program together using Bluetooth incremental development – Move Forward – Lower Arm Trapping 3 Pylons and Blue Ring – Backup to Base – Raise Arm Back to Starting Position

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Precise Turns Left Face! Hold one wheel still Drive with the other wheel Make your drive in two parts, slow then fast You’re not done until you have strung it together with the moves before and after the turn

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Go Forward until you see dark – Use a move and a wait block – Then add a stop block – Check your light levels – The wait until sensor block is one way to stop on a line... Our way is better when you need both power and accuracy. – Now we'll build an improved loop checking sensor every 6 degrees – Then try changing the number of degrees

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Multi-Threaded Programming walking and chewing gum at the same time Advance on the blue ring while lowering the arm to just above the blue ring. Continue to move forward slowly while lowering the arm the rest of the way. Return to base.

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Multi-Threaded Programming walking and chewing gum at the same time

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More Tactical Techniques Standard Starting Location Standard Starting Configuration Straight Lines using Move Blocks Pivot Turns 1-Count Loops to Synchronize Threads “Crowbars” to pry open loops and switches Use your own loops to check sensors and control movement for best accuracy CONTROL your own destiny by writing your own code

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Multi-Threaded Programming walking and chewing gum at the same time

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Sensor Calibration Is it night or just cloudy? First we'd like to explain the Calibrate Block Then we'll show you how we use it in our Calibrate program We've posted “Cougar Calibrate.rbc”, our calibrate program, on CougarRobot.com Why is Cougar Calibrate better?

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Position Registration Our Favorite, X marks the spot How should I register my position? 1. Register using touch 2. Register using light 3. Register using odometry What should I register my position against? 1. The strategic object you are manipulating 2. The mat 3. Field walls

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For the Smart Move challenge we improved our Master Program by altering “LB or EB” program. LB (left button) is repeat last mission EB (enter button) is run next mission. We added RB (right button) which jumps ahead one mission in the sequence Our new program is “LB or EB or RB”

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Miscellaneous TIME is your most valuable resource Make choices that put you in CONTROL

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Miscellaneous 60ish blocks per program At roughly 60 blocks per program the NXT-G editor will start to get really flakey

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Miscellaneous Know how many degrees or rotations per inch You should be able to predict the numbers to feed to a move block by using a tape measure. You should also be able to predict the numbers to make the robot turn 90 degrees.